Abstract
This paper presents an adaptive distributed fault-tolerant formation control for multi-robot systems. Both the kinematics and dynamics of differential wheeled mobile robots are considered. In particular, the problem caused by actuator faults is investigated. Based on dynamic surface control techniques, adaptive formation controllers can be obtained under a directed communication network. The closed-loop stability is guaranteed by using Lyapunov stability analysis such that all followers can exponentially converge to a leader-follower formation pattern. Simulation and experimental results illustrate that the desired formation pattern can be preserved for a group of wheeled robots subject to unknown uncertainties and actuator faults.
| Original language | English |
|---|---|
| Pages (from-to) | 2114-2124 |
| Number of pages | 11 |
| Journal | International Journal of Control, Automation and Systems |
| Volume | 16 |
| Issue number | 5 |
| DOIs | |
| State | Published - 01 10 2018 |
Bibliographical note
Publisher Copyright:© 2018, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature.
Keywords
- Adaptive control
- dynamic surface control
- fault-tolerant control
- formation control
- multi-robot systems